Warm your milk and check the temperature, to ensure it is not over 120 degrees, and is around 110 degrees.
Pour milk into the bowl of the stand mixer. Add the yeast, and sugar. Stir together.
Let sit until the yeast foams.
Add the eggs, butter, and salt to the milk and yeast mixture.
Fit the stand mixture with a dough hook. And place mixing bowl on mixer.
Add in 4 1/2 cups of flour, 1 cup at a time, while mixing on the lowest setting.
Once all flour is incorporated, knead dough for 6-7 minutes, if after 3-4 minutes, the dough is not pulling away from the sides of the bowl cleanly, add in up to the reaming 1/2 cup of flour, 2 Tablespoons at a time, until dough pulls clear of the edges.
Continue kneading until the dough is smooth and elastic. Test the dough by touching it, it should be tacky, but pull away from your finger cleanly when poked.
Spray the inner liner of the Instant Pot with non-stick cooking spray.
Turn your Instant Pot on to the yogurt setting on low.
Pour the cinnamon roll dough into the Instant Pot Liner, and cover with a piece of plastic wrap.
Let dough rise until doubled in size, about 15 minutes.
Meanwhile, prepare the filling.